///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the "Software"), to deal
/// in the Software without restriction, including without limitation the rights
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
/// copies of the Software, and to permit persons to whom the Software is
/// furnished to do so, subject to the following conditions:
/// 
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
/// 
/// Restrictions:
///		By making use of the Software for military purposes, you choose to make
///		a Bunny unhappy.
/// 
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
/// THE SOFTWARE.
///
/// @ref gtx_euler_angles
/// @file glm/gtx/euler_angles.inl
/// @date 2005-12-21 / 2011-06-07
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////////////////////

namespace glm {
    template<typename T>
    GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
    eulerAngleX
    (
            T
    const & angleX
    ) {
    T cosX = glm::cos(angleX);
    T sinX = glm::sin(angleX);

    return
    tmat4x4<T, defaultp>(
            T(1), T(0), T(0), T(0),
            T(0), cosX, sinX, T(0),
            T(0),
    -sinX, cosX, T(0),
    T(0), T(0), T(0), T(1));
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleY
(
        T
const & angleY
)
{
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);

return
tmat4x4<T, defaultp>(
        cosY, T(0),
-sinY,    T(0),
T(0),    T(1),    T(0),    T(0),
sinY,    T(0),    cosY,    T(0),
T(0),    T(0),    T(0),    T(1));
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleZ
(
        T
const & angleZ
)
{
T cosZ = glm::cos(angleZ);
T sinZ = glm::sin(angleZ);

return
tmat4x4<T, defaultp>(
        cosZ, sinZ, T(0), T(0),
-sinZ,    cosZ,    T(0), T(0),
T(0),    T(0),    T(1), T(0),
T(0),    T(0),    T(0), T(1));
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleXY
(
        T
const & angleX,
T const &angleY
)
{
T cosX = glm::cos(angleX);
T sinX = glm::sin(angleX);
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);

return
tmat4x4<T, defaultp>(
        cosY,
-sinX * -sinY,  cosX * -sinY,   T(0),
T(0),   cosX,           sinX,           T(0),
sinY,   -
sinX *cosY, cosX
* cosY,    T(0),
T(0),   T(0),           T(0),           T(1));
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleYX
(
        T
const & angleY,
T const &angleX
)
{
T cosX = glm::cos(angleX);
T sinX = glm::sin(angleX);
T cosY = glm::cos(angleY);
T sinY = glm::sin(angleY);

return
tmat4x4<T, defaultp>(
        cosY,
0,      -sinY,    T(0),
sinY *sinX, cosX, cosY
* sinX, T(0),
sinY *cosX,
-sinX,
cosY *cosX, T(0),
        T(0), T(0), T(0), T(1)
);
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleXZ
(
        T
const & angleX,
T const &angleZ
)
{
return
eulerAngleX(angleX)
*
eulerAngleZ(angleZ);
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleZX
(
        T
const & angleZ,
T const &angleX
)
{
return
eulerAngleZ(angleZ)
*
eulerAngleX(angleX);
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleYZ
(
        T
const & angleY,
T const &angleZ
)
{
return
eulerAngleY(angleY)
*
eulerAngleZ(angleZ);
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleZY
(
        T
const & angleZ,
T const &angleY
)
{
return
eulerAngleZ(angleZ)
*
eulerAngleY(angleY);
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
eulerAngleYXZ
(
        T
const & yaw,
T const &pitch,
        T
const & roll
)
{
T tmp_ch = glm::cos(yaw);
T tmp_sh = glm::sin(yaw);
T tmp_cp = glm::cos(pitch);
T tmp_sp = glm::sin(pitch);
T tmp_cb = glm::cos(roll);
T tmp_sb = glm::sin(roll);

tmat4x4<T, defaultp> Result;
Result[0][0] =
tmp_ch *tmp_cb
+
tmp_sh *tmp_sp
*
tmp_sb;
Result[0][1] =
tmp_sb *tmp_cp;
Result[0][2] = -
tmp_sh *tmp_cb
+
tmp_ch *tmp_sp
*
tmp_sb;
Result[0][3] = static_cast<T>(0);
Result[1][0] = -
tmp_ch *tmp_sb
+
tmp_sh *tmp_sp
*
tmp_cb;
Result[1][1] =
tmp_cb *tmp_cp;
Result[1][2] =
tmp_sb *tmp_sh
+
tmp_ch *tmp_sp
*
tmp_cb;
Result[1][3] = static_cast<T>(0);
Result[2][0] =
tmp_sh *tmp_cp;
Result[2][1] = -
tmp_sp;
Result[2][2] =
tmp_ch *tmp_cp;
Result[2][3] = static_cast<T>(0);
Result[3][0] = static_cast<T>(0);
Result[3][1] = static_cast<T>(0);
Result[3][2] = static_cast<T>(0);
Result[3][3] = static_cast<T>(1);
return
Result;
}

template<typename T>
GLM_FUNC_QUALIFIER tmat4x4<T, defaultp>
yawPitchRoll
(
        T
const & yaw,
T const &pitch,
        T
const & roll
)
{
T tmp_ch = glm::cos(yaw);
T tmp_sh = glm::sin(yaw);
T tmp_cp = glm::cos(pitch);
T tmp_sp = glm::sin(pitch);
T tmp_cb = glm::cos(roll);
T tmp_sb = glm::sin(roll);

tmat4x4<T, defaultp> Result;
Result[0][0] =
tmp_ch *tmp_cb
+
tmp_sh *tmp_sp
*
tmp_sb;
Result[0][1] =
tmp_sb *tmp_cp;
Result[0][2] = -
tmp_sh *tmp_cb
+
tmp_ch *tmp_sp
*
tmp_sb;
Result[0][3] = static_cast<T>(0);
Result[1][0] = -
tmp_ch *tmp_sb
+
tmp_sh *tmp_sp
*
tmp_cb;
Result[1][1] =
tmp_cb *tmp_cp;
Result[1][2] =
tmp_sb *tmp_sh
+
tmp_ch *tmp_sp
*
tmp_cb;
Result[1][3] = static_cast<T>(0);
Result[2][0] =
tmp_sh *tmp_cp;
Result[2][1] = -
tmp_sp;
Result[2][2] =
tmp_ch *tmp_cp;
Result[2][3] = static_cast<T>(0);
Result[3][0] = static_cast<T>(0);
Result[3][1] = static_cast<T>(0);
Result[3][2] = static_cast<T>(0);
Result[3][3] = static_cast<T>(1);
return
Result;
}

template<typename T>
GLM_FUNC_QUALIFIER tmat2x2<T, defaultp>
orientate2
(
        T
const & angle
)
{
T c = glm::cos(angle);
T s = glm::sin(angle);

tmat2x2<T, defaultp> Result;
Result[0][0] =
c;
Result[0][1] =
s;
Result[1][0] = -
s;
Result[1][1] =
c;
return
Result;
}

template<typename T>
GLM_FUNC_QUALIFIER tmat3x3<T, defaultp>
orientate3
(
        T
const & angle
)
{
T c = glm::cos(angle);
T s = glm::sin(angle);

tmat3x3<T, defaultp> Result;
Result[0][0] =
c;
Result[0][1] =
s;
Result[0][2] = 0.0f;
Result[1][0] = -
s;
Result[1][1] =
c;
Result[1][2] = 0.0f;
Result[2][0] = 0.0f;
Result[2][1] = 0.0f;
Result[2][2] = 1.0f;
return
Result;
}

template<typename T, precision P>
GLM_FUNC_QUALIFIER tmat3x3<T, P>
orientate3
(
        tvec3<T, P>
const & angles
)
{
return
tmat3x3<T, P>(yawPitchRoll(angles.z, angles.x, angles.y)
);
}

template<typename T, precision P>
GLM_FUNC_QUALIFIER tmat4x4<T, P>
orientate4
(
        tvec3<T, P>
const & angles
)
{
return
yawPitchRoll(angles
.z, angles.x, angles.y);
}
}//namespace glm
